| Summary: | 碩士 === 大同大學 === 機械工程學系(所) === 98 === This paper demonstrates a robot system which applies on external pipeline inspection. The whole system is consisted of three portions which are mechanism, control system and internet communication system. We develop an 8-wheel lift mechanism, with this mechanism the robot has the ability to adapt outdoor terrain. Control system divide as mobile robot and control station. In order to provide the feeling to the operator like driving the mobile robot in the place where the robot is, the control station applies an image joystick system to track the head motion of the operator. In light varied environment, the image joystick system still can operate correctly even when the RGB eigen value of the target is changing. Though the image joystick system, the camera on the mobile robot can follow the head motion of the operator. And with a joystick, the control system sends out the command of direction to the moving and lift mechanism portion of the mobile robot. The internet communication system can communicate the control system and mobile robot. The whole system can quickly establish if the user has suitable mechanism (robot system, moving system etc.) and webcam in the environment which has wireless internet signal.
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